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中文摘要：
从机械结构、运动模式和步态控制3个方面，对六足步行机器人的仿生机制进行了分析。提出一种灵活度评价函数，基于该函数对六足机器人的结构参数进行了优化；推导了步态模式与步行速度关系的数学表达；构建了分布式局部规则网络，可自适应地调整错乱的腿间相序，生成静态稳定的自由步态。仿真实验验证了上述仿生机制的有效性。
英文摘要：
An analysis of biomimetics mechanism of hexapod walking robot was performed in viewpoints of mechanical structure, locomotion pattern and gait control. An evaluation function was put forward,and the optimization of structural parameters of hexapod robot was realized based on it; the mathematical relation of gait pattern and walking velocity of multi - legged robot was deduced;a distributed network of local rules for gait control was constructed to regulate disordered inter- leg phase sequence adaptively and therefore generate statically stable free gait. Simulation experiments testified the validity of the proposed biomimetics mechanism.
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